Addition of the PID functionality.

 * Convert raw data from current and voltage sensors to volt and amp values
 * Calculation of duty cycle using PID with defined gain
 * Update of PWM with the new duty cycle

src/data_conversion.c

+/*
+ * Copyright (c) 2021 LAAS-CNRS
+ *
+ *   This program is free software: you can redistribute it and/or modify
+ *   it under the terms of the GNU Lesser General Public License as published by
+ *   the Free Software Foundation, either version 2.1 of the License, or
+ *   (at your option) any later version.
+ *
+ *   This program is distributed in the hope that it will be useful,
+ *   but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ *   GNU Lesser General Public License for more details.
+ *
+ *   You should have received a copy of the GNU Lesser General Public License
+ *   along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ * SPDX-License-Identifier: LGLPV2.1
+ */
+
+/**
+ * @author  Antoine Boche <antoine.boche@laas.fr>
+ */
+
+/////
+// Include
+
+// Zephyr
+#include <zephyr.h>
+
+// Stdlib
+#include <stdio.h>
+
+// Application
+#include "data_acquisition.h"
+
+// Current file header
+#include "data_conversion.h"
+
+/////
+// Local variables
+
+//ADC convertions variable
+
+//ADC1
+static float32_t raw_values_adc1[4];
+static float32_t raw_values_offset_removed_adc1[4];
+static float32_t converted_values_adc1[4];
+static float32_t gain_adc1[4] = {0.0125, 0.0107, 0.0125, 0};
+static float32_t offset_adc1[4] = {2030.88, 2029.065, 2017.68, 0};
+
+//ADC2
+static float32_t raw_values_adc2[3];
+static float32_t raw_values_offset_removed_adc2[3];
+static float32_t converted_values_adc2[3];
+static float32_t gain_adc2[3] = {0.0355, 0.0355, 0.0672};
+static float32_t offset_adc2[3] = {2012.11, 2011.74, 3.022};
+static float32_t gain_adc1_triple_linearization[3] = {0.0439, 0.0261, 0.0453};
+static float32_t offset_adc2_triple_linearization[3] = {2036.583, 1834.98, 2160.97};
+
+
+/////
+// Public Functions
+
+/**
+ * This function select the right conversion equation
+ * depending of the voltage measured to solve the non linear response 
+ * of V1 and V2 measurment component
+ */
+void triple_linerarization(float32_t value_adc, int8_t adc_channel)
+{
+	if (value_adc < 2350)
+	{
+		gain_adc2[adc_channel] = gain_adc1_triple_linearization[0];
+		offset_adc2[adc_channel] = offset_adc2_triple_linearization[0];
+	}
+
+	else if ((value_adc >= 2350) && (value_adc <= 2609))
+	{
+		gain_adc2[adc_channel] = gain_adc1_triple_linearization[1];
+		offset_adc2[adc_channel] = offset_adc2_triple_linearization[1];
+	}
+	
+	else if (value_adc > 2609)
+	{
+		gain_adc2[adc_channel] = gain_adc1_triple_linearization[2];
+		offset_adc2[adc_channel] = offset_adc2_triple_linearization[2];
+	}
+}
+
+/////
+// Public Functions
+
+/**
+ * This function allows to convert the raw data from the adc
+ * into the proper value it represents
+ */
+void data_conversion()
+{    
+	if( (data_dispatch_get_values_available_in_adc1_channel(0)!=0) &&
+		(data_dispatch_get_values_available_in_adc1_channel(1)!=0) &&
+		(data_dispatch_get_values_available_in_adc1_channel(2)!=0) &&
+		(data_dispatch_get_values_available_in_adc2_channel(0)!=0) &&
+		(data_dispatch_get_values_available_in_adc2_channel(1)!=0) &&
+		(data_dispatch_get_values_available_in_adc2_channel(2)!=0) )
+	{
+		//Data gathering from the buffer and conversion to float for PID calculation
+		raw_values_adc1[0] = (float32_t)data_dispatch_get_next_value_from_adc1_channel(0);
+		raw_values_adc1[1] = (float32_t)data_dispatch_get_next_value_from_adc1_channel(1);
+		raw_values_adc1[2] = (float32_t)data_dispatch_get_next_value_from_adc1_channel(2);
+		raw_values_adc2[0] = (float32_t)data_dispatch_get_next_value_from_adc2_channel(0);
+		raw_values_adc2[1] = (float32_t)data_dispatch_get_next_value_from_adc2_channel(1);
+		raw_values_adc2[2] = (float32_t)data_dispatch_get_next_value_from_adc2_channel(2);
+
+        //Update of the linearization depending of the value
+        triple_linerarization(raw_values_adc2[0], 0);
+        triple_linerarization(raw_values_adc2[1], 1);
+
+		//Conversion of the raw ADC value in volt and ampere
+		arm_sub_f32(raw_values_adc1, offset_adc1, raw_values_offset_removed_adc1, 4);
+		arm_sub_f32(raw_values_adc2, offset_adc2, raw_values_offset_removed_adc2, 3);
+		arm_mult_f32(raw_values_offset_removed_adc1, gain_adc1, converted_values_adc1, 4);
+		arm_mult_f32(raw_values_offset_removed_adc2, gain_adc2, converted_values_adc2, 3);
+    }    
+}
+
+/**
+ * This function allow to get le value converted anywhere in the code
+ */
+float32_t get_value_converted(uint8_t adc_number, uint8_t adc_channel)
+{
+    if (adc_number == 1)
+    {
+        return converted_values_adc1[adc_channel];
+    }
+
+    else if (adc_number == 2)
+    {
+        return converted_values_adc2[adc_channel];
+    }
+}
\ No newline at end of file

src/data_conversion.h

+/*
+ * Copyright (c) 2021 LAAS-CNRS
+ *
+ *   This program is free software: you can redistribute it and/or modify
+ *   it under the terms of the GNU Lesser General Public License as published by
+ *   the Free Software Foundation, either version 2.1 of the License, or
+ *   (at your option) any later version.
+ *
+ *   This program is distributed in the hope that it will be useful,
+ *   but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ *   GNU Lesser General Public License for more details.
+ *
+ *   You should have received a copy of the GNU Lesser General Public License
+ *   along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ * SPDX-License-Identifier: LGLPV2.1
+ */
+
+/**
+ * @author  Antoine Boche <antoine.boche@laas.fr>
+ */
+
+#ifndef DATA_CONVERSION_H_
+#define DATA_CONVERSION_H_
+
+#include <arm_math.h>   // adds all the CMSIS library
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+ * @brief    Convert the raw data from the adc
+ * into the proper value it represents
+ */
+void data_conversion();
+
+/**
+ * @brief    Extract le value converted anywhere in the code
+ *
+ * @param[in] adc_number      number of the adc 
+ * @param[in] adc_channel     channel of the adc
+ */
+float32_t get_value_converted(uint8_t adc_number, uint8_t adc_channel);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // DATA_CONVERSION_H_

src/pid.c

+/*
+ * Copyright (c) 2021 LAAS-CNRS
+ *
+ *   This program is free software: you can redistribute it and/or modify
+ *   it under the terms of the GNU Lesser General Public License as published by
+ *   the Free Software Foundation, either version 2.1 of the License, or
+ *   (at your option) any later version.
+ *
+ *   This program is distributed in the hope that it will be useful,
+ *   but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ *   GNU Lesser General Public License for more details.
+ *
+ *   You should have received a copy of the GNU Lesser General Public License
+ *   along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ * SPDX-License-Identifier: LGLPV2.1
+ */
+
+/**
+ * @author  Jean Alinei <jean.alinei@laas.fr>
+ * @author  Clément Foucher <clement.foucher@laas.fr>
+ * @author  Antoine Boche <antoine.boche@laas.fr>
+ */
+
+/////
+// Include
+
+// Zephyr
+#include <zephyr.h>
+
+// Stdlib
+#include <stdio.h>
+
+// Drivers
+#include "leg.h"    // PWM management layer by inverter leg interface
+#include "owntech_leg_driver.h"    // PWM management layer by inverter leg interface
+
+// Application
+#include "data_conversion.h"
+
+// Current file header
+#include "pid.h"
+
+
+/////
+// Defines
+
+// block of values used with the PWM
+#define LOW_DUTY 0.1
+#define HIGH_DUTY 0.9
+
+
+/////
+// Global variables
+
+
+/////
+// Local variables
+
+//PID variables
+static float32_t Vref = 10;
+static float32_t V1_value;
+static float32_t error_pid;
+static float32_t Kpgain;		//Buck application gains calculated via matlab
+static float32_t Kigain;
+static float32_t Kdgain;
+static arm_pid_instance_f32 PID_variables;
+
+//PWM variables
+static float32_t pwm_duty_cycle = 0.1;                    // pwm initialization value
+static uint16_t pwm_pulse_width;
+static uint16_t pwm_period, pwm_phase_shift, pwm_low_pulse_width, pwm_high_pulse_width;
+
+
+/////
+// Public Functions
+
+/**
+ * This function Initialize all the parameters
+ * needed for the PID calculation for the buck topoligy
+ */
+void pid_init_buck()
+{
+	pwm_period = leg_period();
+	pwm_phase_shift = pwm_period / 2;
+	pwm_low_pulse_width = pwm_period * LOW_DUTY;
+	pwm_high_pulse_width = pwm_period * HIGH_DUTY;
+
+	Kpgain = -0.00000235;		//Buck application gains calculated via matlab
+	Kigain = -0.117;
+	Kdgain = 0;
+
+	PID_variables.Kp = Kpgain;
+	PID_variables.Ki = Kigain;
+	PID_variables.Kd = Kdgain;
+	arm_pid_init_f32(&PID_variables,1);
+}
+
+/**
+ * This function Initialize all the parameters
+ * needed for the PID calculation for the boost topoligy
+ */
+//NOTE: all the gain are set for the buck topology, they must be changed 
+void pid_init_boost()
+{
+	pwm_phase_shift = pwm_period / 2;
+	pwm_low_pulse_width = pwm_period * LOW_DUTY;
+	pwm_high_pulse_width = pwm_period * HIGH_DUTY;
+
+	Kpgain = 0;		//Boost application gains to be calculated
+	Kigain = 0;
+	Kdgain = 0;
+
+	PID_variables.Kp = Kpgain;
+	PID_variables.Ki = Kigain;
+	PID_variables.Kd = Kdgain;
+	arm_pid_init_f32(&PID_variables,1);
+}
+
+
+/**
+ * This function calculation of the PID for the chosen 
+ * topology and set the new duty cycle in the hrtim PWM
+ */
+void pid_calculation_and_pwm_update()
+{
+	//PID CALCUALTIONS
+	V1_value = get_value_converted(2 , 0);
+	arm_sub_f32(&V1_value, &Vref, &error_pid,1);		//CALCULATING THE ERROR BASED ON THE REFERENCE
+	pwm_duty_cycle = arm_pid_f32(&PID_variables, 0.01*error_pid);	        //PID CALCULATIONS
+
+	//TESTING PWM VALUE TO AVOID OVERFLOW AND PWM UPDATE//
+	if (pwm_duty_cycle > HIGH_DUTY) //SATURATION CONDITIONS TO AVOID DIVERGENCE.
+	{
+		pwm_pulse_width = pwm_high_pulse_width;
+		leg_set(TIMA, pwm_pulse_width, 0);
+		leg_set(TIMB, pwm_pulse_width, pwm_phase_shift);
+	}
+
+	else if (pwm_duty_cycle < LOW_DUTY) //SATURATION CONDITIONS TO AVOID DIVERGENCE.
+	{
+		pwm_pulse_width = pwm_low_pulse_width;
+		leg_set(TIMA, pwm_pulse_width, 0);
+		leg_set(TIMB, pwm_pulse_width, pwm_phase_shift);
+	}
+
+	else
+	{
+		pwm_pulse_width = (pwm_duty_cycle * pwm_period);
+		leg_set(TIMA, pwm_pulse_width, 0);
+		leg_set(TIMB, pwm_pulse_width, pwm_phase_shift);	
+	}		
+}
\ No newline at end of file

src/pid.h

+/*
+ * Copyright (c) 2021 LAAS-CNRS
+ *
+ *   This program is free software: you can redistribute it and/or modify
+ *   it under the terms of the GNU Lesser General Public License as published by
+ *   the Free Software Foundation, either version 2.1 of the License, or
+ *   (at your option) any later version.
+ *
+ *   This program is distributed in the hope that it will be useful,
+ *   but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ *   GNU Lesser General Public License for more details.
+ *
+ *   You should have received a copy of the GNU Lesser General Public License
+ *   along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ * SPDX-License-Identifier: LGLPV2.1
+ */
+/**
+ * @author  Jean Alinei <jean.alinei@laas.fr>
+ * @author  Clément Foucher <clement.foucher@laas.fr>
+ * @author  Antoine Boche <antoine.boche@laas.fr>
+ */
+
+#ifndef PID_H_
+#define PID_H_
+
+#include <arm_math.h>   // adds all the CMSIS library
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+ * @brief     This function Initialize all the parameters
+ * needed for the PID calculation for the buck topoligy
+ */
+void pid_init_buck();
+
+/**
+ * @brief     This function Initialize all the parameters
+ * needed for the PID calculation for the buck topoligy
+ */
+void pid_init_boost();
+
+/**
+ * @brief     This function calculation of the PID for the chosen 
+ * topology and set the new duty cycle in the hrtim PWM
+ */
+void pid_calculation_and_pwm_update();
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // PID_H_